function robo_map = update_robo_world(angle,range,start_point,end_point,occ,robo_map)
check = zeros(size(robo_map));
global log_odds_occ 
global log_odds_occ_sensor
global log_odds_empty_sensor 

ranges = 0:0.5:range;


for i=1:max(size(ranges))
    xy = uint64(start_point + ranges(i)*[cos(angle),sin(angle)]);
    if(check(xy(1),xy(2))>0)
        continue;
    end
    check(xy(1),xy(2)) = 1;
    if(xy(1)==end_point(1) && xy(2)==end_point(2) && occ)
        robo_map(xy(1),xy(2)) = robo_map(xy(1),xy(2)) + log_odds_occ_sensor - log_odds_occ;
    else
        robo_map(xy(1),xy(2)) = robo_map(xy(1),xy(2)) + log_odds_empty_sensor - log_odds_occ;
    end
end